In Robot class, getCurrentVelocity method gets odometry msg which contains both twist and pose. getCurrentPose method gets pose msg which is estimated from localization module. To make this less confusing, rename the getCurrentVelocity method to getOdometry and also rename the getCurrentPose to getCurrentEstimatedPose.

Also, the following methods needs to be implemented in Robot class:
TODO(mhpanah):

• getFootPrint()

• robot types and SN or ID
  

• Add unit and integration test
  

• Be able to configure which topic name to subscribe to
  

• Topic names for pose and odom should should be confifured with parameters
  

• re-enable model_.getName() from getRobotName()